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The first 77 GHz frequency modulated continuous wave (FMCW) radar transceiver IC with an accurate FMCW chirp signal generator using a 90 nm CMOS process is presented. To realize accurate FMCW radar system in CMOS, a PLL synthesizer based FMCW generator with chirp smoothing technique that is able to output linear FMCW frequency chirp using a nonlinear reference chirp signal supplied from a low spec/cost digital-oriented frequency reference is applied. The fabricated IC consists of an LNA, a down-conversion mixer with an output buffer, a driver amplifier, a power amplifier with power combiner, an LO distributer and an FMCW synthesizer. The measured FMCW signal from the proposed FMCW generator achieves 93 kHz frequency error (nonlinearity) at the 77 GHz chip signal. Radar performance of the IC has less than 1% ranging error from 1 m to 8 m distance from the measurement in a laboratory. These results show the transceiver achieves a fundamental function for radar applications with 520 mW power consumptions.